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Path planning for nonholonomic robots

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F09%3APU83413" target="_blank" >RIV/00216305:26210/09:PU83413 - isvavai.cz</a>

  • Result on the web

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    Path planning for nonholonomic robots

  • Original language description

    In this paper, we deal with nonholonomic mobile robot path planning in a two-dimensional continuous space in which known static polygonal obstacles are defined. This problem involves finding a collision-free path from a start to a goal position, satisfying kinematic constraints and minimizing an evaluation function. The proposed approach consists of finding a path for a holonomic robot by means of a genetic algorithm and subsequent adapting this path to nonholonomic constraints by using a modified A* algorithm. We compare this approach with other methods for path planning of nonholonomic robots.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JD - Use of computers, robotics and its application

  • OECD FORD branch

Result continuities

  • Project

  • Continuities

    Z - Vyzkumny zamer (s odkazem do CEZ)

Others

  • Publication year

    2009

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    Mendel 2009. 15th International Conference on Soft Computing

  • ISBN

    978-80-214-3884-2

  • ISSN

  • e-ISSN

  • Number of pages

    8

  • Pages from-to

  • Publisher name

    Brno University of Technology

  • Place of publication

    Brno

  • Event location

    Brno University of Technology

  • Event date

    Jun 24, 2009

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article